Ensure all Bazel projects use same .bazelrc ROS 2 testing setup (#297)

Move drake_ros...bazel_ros_testing to bazel_ros2_rules...bazel_ros_env

bazel_ros2_rules/ros2/defs.bzl

@@ -9,6 +9,8 @@ COMMON_FILES_MANIFEST = [
     "ros_py.bzl",
     "rosidl.bzl",
     "_calculate_rosidl_capitalization.bzl",
+    "resources/bazel_ros_env/bazel_ros_env.py",
+    "resources/bazel_ros_env/package.BUILD.bazel",
     "resources/cmake_tools/__init__.py",
     "resources/cmake_tools/file_api.py",
     "resources/cmake_tools/packages.py",
@@ -18,14 +20,14 @@ COMMON_FILES_MANIFEST = [
     "resources/rmw_isolation/rmw_isolation.cc",
     "resources/rmw_isolation/rmw_isolation.h",
     "resources/rmw_isolation/rmw_isolation.py",
-    "resources/rmw_isolation/test/rmw_isolation_test.py",
     "resources/rmw_isolation/test/rmw_isolation_test.cc",
+    "resources/rmw_isolation/test/rmw_isolation_test.py",
     "resources/ros2bzl/__init__.py",
     "resources/ros2bzl/resources.py",
     "resources/ros2bzl/sandboxing.py",
+    "resources/ros2bzl/scraping/__init__.py",
     "resources/ros2bzl/scraping/ament_cmake.py",
     "resources/ros2bzl/scraping/ament_python.py",
-    "resources/ros2bzl/scraping/__init__.py",
     "resources/ros2bzl/scraping/metadata.py",
     "resources/ros2bzl/scraping/properties.py",
     "resources/ros2bzl/scraping/system.py",
@@ -38,8 +40,8 @@ COMMON_FILES_MANIFEST = [
     "resources/templates/package_cc_library.bazel.tpl",
     "resources/templates/package_interfaces_filegroup.bazel.tpl",
     "resources/templates/package_meta_py_library.bazel.tpl",
-    "resources/templates/package_py_library.bazel.tpl",
     "resources/templates/package_py_library_with_cc_libs.bazel.tpl",
+    "resources/templates/package_py_library.bazel.tpl",
     "resources/templates/package_share_filegroup.bazel.tpl",
     "resources/templates/prologue.bazel",
     "resources/templates/run.bash.in",

drake_ros_examples/test/bazel_ros_testing.py → bazel_ros2_rules/ros2/resources/bazel_ros_env/bazel_ros_env.py

@@ -1,4 +1,5 @@
-# TODO(eric.cousineau): Hoist this to rmw_isolation / bazel_ros2_rules.
+# TODO(#303): Move RMW + ROS isolation to a location accessible by CMake as
+# well.
 
 import functools
 import os
@@ -7,15 +8,6 @@
 from rules_python.python.runfiles import runfiles
 
 
-@functools.lru_cache
-def _runfiles():
-    return runfiles.Create()
-
-
-def Rlocation(path):
-    return _runfiles().Rlocation(path)
-
-
 def make_unique_ros_isolation_env(
     *,
     unique_identifier=None,
@@ -30,14 +22,18 @@ def make_unique_ros_isolation_env(
     Warning:
         scratch_directory should generally be unique to prevent collisions
         among environments intended to be distinct.
-
-    For more info, see:
-    https://github.com/RobotLocomotion/drake-ros/blob/main/bazel_ros2_rules/ros2/resources/rmw_isolation/rmw_isolation.py
     """  # noqa
 
     if unique_identifier is None:
-        # A PID should be unique for a single machine.
-        unique_identifier = str(os.getpid())
+        is_bazel_test = "TEST_TMPDIR" in environ
+        # A PID should be unique for a single machine if we are not
+        # running inside `bazel test`. This may or may not be true
+        # inside of `bazel test - it is explicitly undefined.
+        # https://bazel.build/reference/test-encyclopedia#initial-conditions
+        if is_bazel_test:
+            unique_identifier = os.environ["TEST_TMPDIR"]
+        else:
+            unique_identifier = str(os.getpid())
 
     if temp_dir is None:
         temp_dir = environ.get("TEST_TMPDIR", "/tmp")
@@ -62,14 +58,15 @@ def make_unique_ros_isolation_env(
     return env
 
 
-def make_bazel_runfiles_env():
-    env = dict(_runfiles().EnvVars())
-    return env
+@functools.lru_cache
+def _runfiles():
+    return runfiles.Create()
 
 
-def maybe_make_test_ros_isolation_env():
-    env = dict()
-    if "TEST_TMPDIR" in os.environ:
-        # Only isolate when testing.
-        env.update(make_unique_ros_isolation_env())
+def Rlocation(path):
+    return _runfiles().Rlocation(path)
+
+
+def make_bazel_runfiles_env():
+    env = dict(_runfiles().EnvVars())
     return env

bazel_ros2_rules/ros2/resources/bazel_ros_env/package.BUILD.bazel

@@ -0,0 +1,13 @@
+# -*- python -*-
+# vi: set ft=python :
+
+py_library(
+    name = "bazel_ros_env_py",
+    srcs = ["bazel_ros_env.py"],
+    visibility = ["//visibility:public"],
+    imports = ["."],
+    deps = [
+        "@ros2//resources/rmw_isolation:rmw_isolation_py",
+        "@rules_python//python/runfiles",
+    ],
+)

default.bazelrc

@@ -11,3 +11,14 @@ build --action_env=ROS_HOME=/tmp/.ros
 # Default test options.
 test --test_output=errors
 test --test_summary=terse
+
+# Prevent ROS 2 messages from leaking into or outside of tests.
+# At present, this error message is not fully traceable. As of 2022-11-03, it
+# appears as follows:
+# "failed to initialize rcl: ROS_DOMAIN_ID is not an integral number".
+# See https://github.com/RobotLocomotion/drake-ros/issues/187 for possible
+# improvements.
+build --test_env=ROS_DOMAIN_ID=INVALID_PLEASE_USE_RMW_ISOLATION
+test --test_env=ROS_HOME=/does_not_exist/instead_please_reconfigure_in_test
+# Disable ROS communication with other machines
+test --test_env=ROS_LOCALHOST_ONLY=1

drake_ros/drake_ros/BUILD.bazel

@@ -78,7 +78,7 @@ ros_py_test(
         "@ros2//:rclpy_py",
         "@ros2//:std_msgs_py",
         "@ros2//:test_msgs_py",
-        "@ros2//resources/rmw_isolation:rmw_isolation_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )
 
@@ -91,7 +91,7 @@ ros_py_test(
         "@drake//bindings/pydrake",
         "@ros2//:rclpy_py",
         "@ros2//:tf2_ros_py_py",
-        "@ros2//resources/rmw_isolation:rmw_isolation_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )
 
@@ -104,7 +104,7 @@ ros_py_test(
         "@drake//bindings/pydrake",
         "@ros2//:rclpy_py",
         "@ros2//:visualization_msgs_py",
-        "@ros2//resources/rmw_isolation:rmw_isolation_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )
 

drake_ros/drake_ros/test/core_test.py

@@ -28,10 +28,13 @@
 
 
 def isolate_if_using_bazel():
-    if 'TEST_TMPDIR' in os.environ:
-        # This package can only be imported when using bazel_ros2_rules
-        from rmw_isolation import isolate_rmw_by_path
-        isolate_rmw_by_path(os.environ['TEST_TMPDIR'])
+    # Do not require `make_unique_ros_isolation_env` module for CMake.
+    # TODO(eric.cousineau): Expose this to CMake in better location..
+    try:
+        from bazel_ros_env import make_unique_ros_isolation_env
+        os.environ.update(make_unique_ros_isolation_env())
+    except ImportError:
+        assert "TEST_TMPDIR" not in os.environ
 
 
 @pytest.fixture

drake_ros/drake_ros/test/tf2_test.py

@@ -1,3 +1,4 @@
+import os
 import math
 import sys
 
@@ -27,6 +28,16 @@
 import tf2_ros
 
 
+def isolate_if_using_bazel():
+    # Do not require `make_unique_ros_isolation_env` module for CMake.
+    # TODO(eric.cousineau): Expose this to CMake in better location..
+    try:
+        from bazel_ros_env import make_unique_ros_isolation_env
+        os.environ.update(make_unique_ros_isolation_env())
+    except ImportError:
+        assert "TEST_TMPDIR" not in os.environ
+
+
 def test_nominal_case():
     drake_ros.core.init()
 
@@ -122,4 +133,5 @@ def test_nominal_case():
 
 
 if __name__ == '__main__':
+    isolate_if_using_bazel()
     sys.exit(pytest.main(sys.argv))

drake_ros/drake_ros/test/viz_test.py

@@ -1,3 +1,4 @@
+import os
 import random
 import string
 import sys
@@ -21,6 +22,16 @@
 from drake_ros.viz import RvizVisualizer
 
 
+def isolate_if_using_bazel():
+    # Do not require `make_unique_ros_isolation_env` module for CMake.
+    # TODO(eric.cousineau): Expose this to CMake in better location..
+    try:
+        from bazel_ros_env import make_unique_ros_isolation_env
+        os.environ.update(make_unique_ros_isolation_env())
+    except ImportError:
+        assert "TEST_TMPDIR" not in os.environ
+
+
 class ManagedSubscription:
     def __init__(
             self,
@@ -169,4 +180,5 @@ def test_receive_visual_marker_array():
 
 
 if __name__ == '__main__':
+    isolate_if_using_bazel()
     sys.exit(pytest.main(sys.argv))

drake_ros_examples/BUILD.bazel

@@ -6,14 +6,3 @@ py_test(
         "@drake_ros_repo//:drake_ros_py",
     ],
 )
-
-py_library(
-    name = "bazel_ros_testing_py",
-    testonly = 1,
-    srcs = ["test/bazel_ros_testing.py"],
-    visibility = ["//:__subpackages__"],
-    deps = [
-        "@ros2//resources/rmw_isolation:rmw_isolation_py",
-        "@rules_python//python/runfiles",
-    ],
-)

drake_ros_examples/examples/hydroelastic/BUILD.bazel

@@ -53,6 +53,6 @@ ros_py_test(
     ],
     main = "test/hydroelastic_test.py",
     deps = [
-        "//:bazel_ros_testing_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )

drake_ros_examples/examples/hydroelastic/test/hydroelastic_test.py

@@ -1,17 +1,17 @@
 import os
 from subprocess import run
 
-from drake_ros_examples.test.bazel_ros_testing import (
+from bazel_ros_env import (
     Rlocation,
     make_bazel_runfiles_env,
-    maybe_make_test_ros_isolation_env,
+    make_unique_ros_isolation_env,
 )
 
 
 def make_env():
     env = dict(os.environ)
     env.update(make_bazel_runfiles_env())
-    env.update(maybe_make_test_ros_isolation_env())
+    env.update(make_unique_ros_isolation_env())
     return env
 
 

drake_ros_examples/examples/iiwa_manipulator/BUILD.bazel

@@ -43,6 +43,6 @@ ros_py_test(
     ],
     main = "test/iiwa_manipulator_test.py",
     deps = [
-        "//:bazel_ros_testing_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )

drake_ros_examples/examples/iiwa_manipulator/test/iiwa_manipulator_test.py

@@ -1,17 +1,17 @@
 import os
 from subprocess import run
 
-from drake_ros_examples.test.bazel_ros_testing import (
+from bazel_ros_env import (
     Rlocation,
     make_bazel_runfiles_env,
-    maybe_make_test_ros_isolation_env,
+    make_unique_ros_isolation_env,
 )
 
 
 def make_env():
     env = dict(os.environ)
     env.update(make_bazel_runfiles_env())
-    env.update(maybe_make_test_ros_isolation_env())
+    env.update(make_unique_ros_isolation_env())
     return env
 
 

drake_ros_examples/examples/multirobot/BUILD.bazel

@@ -51,6 +51,6 @@ ros_py_test(
     ],
     main = "test/multirobot_test.py",
     deps = [
-        "//:bazel_ros_testing_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )

drake_ros_examples/examples/multirobot/test/multirobot_test.py

@@ -1,17 +1,17 @@
 import os
 from subprocess import run
 
-from drake_ros_examples.test.bazel_ros_testing import (
+from bazel_ros_env import (
     Rlocation,
     make_bazel_runfiles_env,
-    maybe_make_test_ros_isolation_env,
+    make_unique_ros_isolation_env,
 )
 
 
 def make_env():
     env = dict(os.environ)
     env.update(make_bazel_runfiles_env())
-    env.update(maybe_make_test_ros_isolation_env())
+    env.update(make_unique_ros_isolation_env())
     return env
 
 

drake_ros_examples/examples/rs_flip_flop/BUILD.bazel

@@ -41,6 +41,6 @@ ros_py_test(
     ],
     main = "test/rs_flip_flop_test.py",
     deps = [
-        "//:bazel_ros_testing_py",
+        "@ros2//resources/bazel_ros_env:bazel_ros_env_py",
     ],
 )

drake_ros_examples/examples/rs_flip_flop/test/rs_flip_flop_test.py

@@ -1,17 +1,17 @@
 import os
 from subprocess import run
 
-from drake_ros_examples.test.bazel_ros_testing import (
+from bazel_ros_env import (
     Rlocation,
     make_bazel_runfiles_env,
-    maybe_make_test_ros_isolation_env,
+    make_unique_ros_isolation_env,
 )
 
 
 def make_env():
     env = dict(os.environ)
     env.update(make_bazel_runfiles_env())
-    env.update(maybe_make_test_ros_isolation_env())
+    env.update(make_unique_ros_isolation_env())
     return env
 
 

ros2_example_bazel_installed/WORKSPACE

@@ -25,6 +25,13 @@ http_archive(
     ],
 )
 
+http_archive(
+    name = "rules_python",
+    sha256 = "0a8003b044294d7840ac7d9d73eef05d6ceb682d7516781a4ec62eeb34702578",  # noqa
+    strip_prefix = "rules_python-0.24.0",
+    url = "https://github.com/bazelbuild/rules_python/releases/download/0.24.0/rules_python-0.24.0.tar.gz",  # noqa
+)
+
 load("@bazel_skylib//:workspace.bzl", "bazel_skylib_workspace")
 
 bazel_skylib_workspace()